README.md

Data collection by teleoperation

A full list of teleoperation environments can be found in the environment catalog.

Sample data can be downloaded here. This data is in an old format and will be replaced with a new format soon.

Connect SpaceMouse to your PC before launching the script.

Start up the teleoperation environment by the following command.

$ python bin/TeleopMujocoUR5eCable.py

DemoTeleopUR5eCable-20240901.mp4

If you want to collect data only in a simulation environment with limited world indices (for example, only 0 and 5), add the following option:

$ python bin/TeleopMujocoUR5eCable.py --world_idx_list 0 5

To add a 3D plot of the point cloud, add the following option:

$ python bin/TeleopMujocoUR5eCable.py --enable_3d_plot

If you cannot zoom the point cloud view by right-clicking, try changing the matplotlib version: pip install matplotlib=="3.6.1".

To replay the teleoperation motion of the log, add the following option:

$ python bin/TeleopMujocoUR5eCable.py --replay_log ./teleop_data/UR5eCable/env0/UR5eCable_env0_000.npz